Mathematical Modelling and Parameter Identification of Quadrotor (a survey)

Chovancová, Anežka; Fico, Tomáš; Chovanec, Ľuboš; Hubinsk, Peter

doi:10.1016/j.proeng.2014.12.139

Cited by 126 publications

(65 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…A fairly thorough derivation of the Newton-Euler formulism for multirotor UAV is provided in Refs. [16] and [17]. Following these formulations, the Newton-Euler UAV dynamics are given by…”

Section: Rotor Frame Dynamicsmentioning

confidence: 99%

Design and Control of a Fully-Actuated Hexrotor for Aerial Manipulation Applications

Lee

Leang

Yim

2018

Journal of Mechanisms and Robotics

View full text Add to dashboard Cite

This paper addresses the issue of controller complexity for multirotor aerial manipulator (AM) implementation by utilizing a special class of fully actuated hexrotor within the framework of a firmware, which allows standard multirotor actuation modes. Using this platform, manipulator and vehicle dynamics are decoupled, making the airframe inherently more robust than standard multirotor for trajectory tracking in AM applications. Furthermore, its unique design allows for the implementation of modular control strategies. The proposed rotor orientation model makes it possible to decouple the dynamics, allowing full analytical development of the optimal solution. A methodology for analysis, control allocation, and design of this special class of hexrotor is presented, and the implementation of a custom flight stack is demonstrated using a hexrotor prototype in closed-loop flight testing. The flight stack developed is compliant with the open-source ArduPilot Mega (APM) firmware, allowing it to take advantage of all generic multirotor control algorithms. Experimental results are presented to demonstrate feasibility of the system.

show abstract

“…A fairly thorough derivation of the Newton-Euler formulism for multirotor UAV is provided in Refs. [16] and [17]. Following these formulations, the Newton-Euler UAV dynamics are given by…”

Section: Rotor Frame Dynamicsmentioning

confidence: 99%

Design and Control of a Fully-Actuated Hexrotor for Aerial Manipulation Applications

Lee

Leang

Yim

2018

Journal of Mechanisms and Robotics

View full text Add to dashboard Cite

show abstract

“…Multicopters have been received a significant interest in various applications such as rescue missions, inspection of structures, environment monitoring, and military reconnaissance [1], [2]. Advantages of multicopters on mechanical simplicity and high maneuverability enable to conduct advanced missions in academic research and industrial applications with advanced control algorithms.…”

Section: Introductionmentioning

confidence: 99%

“…The methods on multicopter system identification are mainly divided into two different approaches: (i) direct computation of geometry and (ii) analysis from flight data [3]. For instance, CAD models are used to calculate all the missing parameters and the moment of inertia in [1], [4] for direct computation of geometry. In [1], [3], Unscented Kalman Filter (UKF) is implemented to identify and estimate parameters of quadrotors from flight data.…”

Section: Introductionmentioning

confidence: 99%

“…For instance, CAD models are used to calculate all the missing parameters and the moment of inertia in [1], [4] for direct computation of geometry. In [1], [3], Unscented Kalman Filter (UKF) is implemented to identify and estimate parameters of quadrotors from flight data. Reference [5] suggested prediction error method (PEM) to estimate unknown parameters which minimizes a quadratic criterion applied to the prediction error using flying data near to hovering point.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Modeling and experimental parameter identification of a multicopter via a compound pendulum test rig

Capello

Park

Tavora

et al. 2015

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

View full text Add to dashboard Cite

Abstract-In this paper, a method to identify parameters of a multicopter is proposed via a compound pendulum test rig and data from an optical position tracking system. Moments of inertia and thrust parameters of a hexacopter are evaluated. In addition, a specific method is introduced to identify the torque by a propeller using a floating test bed. Then, nonlinear dynamic model is derived based on the obtained parameters. To verify the identification method, simulation results using the nonlinear model are compared with experimental results from flight tests.

show abstract

“…Firstly, RAR system kinetic mechanism is rely on the aerodynamics produced by high-speed revolution of propellers, which results in the obvious nonlinear characteristics, strong coupling, under-actuated feature and high sensitivity to perturbations [4] . The RAMS dynamic complexity further increases owing to the operating mechanism, making system modeling and controller design much more difficult.…”

mentioning

confidence: 99%

Design and implementation of rotor aerial manipulator system

Meng

et al. 2016

2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)

View full text Add to dashboard Cite

Abstract-With the development of rotor aerial robot, it has been widely used as a stabilized flying platform to achieve observation, communication relay and so on by equipping corresponding equipment, which are always called passive tasks. However, many applications need rotor aerial robots to possess more active capability, such as grasp, carry and assemblage. Thus, the demand for an aerial manipulation system gradually appears, and becomes a hot research issue in recent years. Aerial manipulator system, usually composed of rotor aerial robot and the manipulator, is a new type of robot system with active operating capability. Compared with the mobile manipulator based on the ground and underwater mobile robot which is now widely applied, the aerial manipulation has lager working range and better flexibility obviously. Unfortunately, the new aerial manipulation system also brings new challenges, such as strong dynamics coupling, the modeling and stabilization problem, etc. which may affect its further application. Thus, in our work, an actual physical aerial manipulator system is designed and implemented for its system and application research. Based on the system, the preliminary modeling and control was researched and also an experiment for grasping and carry application is conducted. The conclusions of these researches will help us to realize and improve the system in the future. I. INTRODUCTIONRotor aerial robots (RAR) have played an important role in anti-terrorist, disaster assistance, reconnaissance and surveillance for civil and military applications during past decades. They have lots of distinctive features, including low altitude flight and stable hover which are the basis of the above applications. Generally, the applications of RAR focused on some passive tasks like information collection, communication relay, etc. With the task and environment getting more and more complex, many applications need RAR to possess more active capabilities such as grasp, carry and assemblage. Especially, traditional mobile manipulators composed of manipulator and ground, underwater even space robots have been verified and successfully used in many applications. Inspired by this, rotor aerial manipulator system (RAMS) composed of a RAR and a manipulator becomes a research trend that has recently received great attention. Obviously, this combination will greatly increase

show abstract

Mathematical Modelling and Parameter Identification of Quadrotor (a survey)

Cited by 126 publications

References 5 publications

Design and Control of a Fully-Actuated Hexrotor for Aerial Manipulation Applications

Design and Control of a Fully-Actuated Hexrotor for Aerial Manipulation Applications

Modeling and experimental parameter identification of a multicopter via a compound pendulum test rig

Design and implementation of rotor aerial manipulator system

Contact Info

Product

Resources

About